Method of, and apparatus for producing multi-dimensionally bent elongate articles

ABSTRACT

A multi-dimensional bending method and apparatus are disclosed, wherein the entire length of the product is divided into a plurality of imaginary segments which are identified by detecting the continuously supplied length of an elongate material. This material is bent multi-dimensionally by a bending device including horizontal and vertical bending mechanisms and an axial twisting mechanism having the respective actuators arranged remote from the movable elements of the mechanisms, and individually actuated in response to the detected supplied length of the material. Multi-dimensionally bent, continuously supplied material is cut into the length of the product by means of a cutting device also actuated in response to the detected supplied length of the material, and includes fixed and movable blade members which, during the cutting operation, and movable also in the direction in which the material is supplied. The cutting operation is effected without requiring an interruption of the continuous supply of the material.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to a method of, and an apparatus forproducing multi-dimensionally bent elongate articles, such as doorsashes, various moldings for automobiles, and the like.

2. Description of the Prior Art

A multi-dimensional or complex bending machine for producing elongatearticles having two- or three-dimensional curvature from continuouslysupplied elongate raw material is known, and disclosed e.g. in U.S. Pat.No. 4,391,116 issued on July 5, 1983. This known machine comprises amovable roller device including a pair of upper and lower bending rollswhich are mounted on a rotary wheel by means of a universal jointmechanism. The rotary wheel is rotatably supported by a plurality ofrollers mounted on a vertically slidable plate, and has gear teeth whichare in mesh with gear teeth of the rollers. The vertically slidableplate mounts thereon a drive motor connected to one of the rollers fordriving the rotary wheel, and is vertically slidably supported by ahorizontally slidable plate. The horizontally slidable plate mountsthereon a second drive motor connected to the vertically slidable platethrough a transmission mechanism, and is horizontally slidably supportedby a pair of side frames. One of the side frames mounts thereon a thirddrive motor connected to the horizontally slidable plate through anothertransmission mechanism. The elongate material is supplied fromstationary guide rollers, to be bent by the movable roller devicemulti-dimensionally.

With the above-mentioned structure of the known bending machine,however, the overall arrangement is very bulky and costly, and moreimportantly, it proved to be very difficult to effect an accuratemulti-dimensional bending of the elongate material owing to thefollowing reasons. Firstly, since the bending rolls are mounted on therotary wheel by a universal joint mechanism, and are not properlyrestrained from an unintentional motion, and also due to the time lagresulting from the inertia of the bending rollers and the universaljoint mechanism, an elongate material cannot be bent accurately into adesired curvature, and may sometimes be snapped particularly in case ofa slender material having a low bending rigidity. Secondly, during thebending operation, the rollers supporting and in mesh with the rotarywheel are applied with the reaction torque from the material, so that alarge motor has to be used to drive the rotaty wheel with a sufficienttorque. This results in an increase in the weight and inertia of therotary wheel and the vertically slidable plate so that the starting andstopping operations of these elements cannot be accurately controlled.Similarly, the horizontally slidable plate is heavy in weight and has alarge inertia since it carries the vertically slidable plate and drivemotor and transmission mechanism therefor, among which the verticallyslidable plate itself carries the universal joint mechanism, rotarywheel and drive motor and transmission mechanism therefor. Thus thestarting and stopping operations of the horizontally slidable plate,either, cannot be accurately controlled.

Another problem encountered with the known bending machine resides inthe complexity of controlling the operation. More particularly, thebending is effected by controlling the machine by measuring the suppliedlength of the elongate material and on the basis of X-Y programincluding the vertical and horizontal sliding amounts of the movableelements. The program by which an accurate bending is effected is verycomplicated and difficult to prepare, and such a complexity is furtherenhanced when a three-dimensional bending is to be effected, or when itbecomes necessary to axially twist the material depending upon thenature of the product.

Still another problem is that, even when the known bending machine iscapable of processing continuously supplied elongate material, in orderto cut the bent material into a predetermined length, the continuoussupply of the material has to be interrupted during the period in whicha movable blade member is moved to effect cutting and returned to itsoriginal position, so that a real improvement in the productivity cannotbe achieved. There have been no proposals relating to an effectivecutting device to which the bent material can be supplied continuously.

SUMMARY OF THE INVENTION

Therefore, it is an object of the present invention to provide anapparatus for producing multi-dimensionally bent elongate articlesaccurately and economically, having minimized weight and inertia ofmovable elements, and being simple in construction, easy to control, andreliable in operation.

Another object of the present invention is to provide a method ofproducing multi-dimensionally bent elongate articles, whereby theoperation of the bending apparatus can be controlled simply andaccurately.

Another object of the present invention is to provide a method of, andan apparatus for producing multi-dimensionally bent products with a highproductivity, without requiring interruption of continuous supply of thematerial.

Another object of the present invention is to provide a cutting deviceto be combined with a multi-dimensional bending apparatus, whereincontinuously supplied bent material can be cut into a predeterminedlength very efficiently.

According to the present invention, there is provided an apparatus forproducing multi-dimensionally bent products, comprising: retaining meansfor retaining an elongate material laterally while guiding slidingmovement of the material longitudinally thereof; a detecting device fordetecting the supplied length of the material; a multi-dimensionalbending device, actuated in response to the output signal of thedetecting device, for continuously bending the material; and a cuttingdevice, actuated in response to the output signal of the detectingdevice, for cutting the continuously supplied, multi-dimensionally bentmaterial.

Preferably, the bending device comprises a base member, a bottom platepivotably mounted on the base member so as to be angularly movable abouta vertical axis, a vertical plate fixedly mounted on the bottom plate atright angle to the longitudinal axis of the material, hoziontal bendingmeans mounted on the vertical plate, for laterally retaining thematerial and permitting passage of the material therethrough, andvertical bending means arranged behind the horizontal bending means andpivotably mounted on the vertical plate such that the vertical bendingmeans is angularly movable about a horizontal axis.

Preferably, the cutting device comprises a fixed blade member formedtherein with an opening through which the multi-dimensionally bentmaterial is passed, and a movable blade member vertically movable withrespect to, and kept in sliding contact with the fixed blade member,cutting edges being formed by the lower peripheral edge of the openingin the fixed blade member and the lower edge of the movable blademember, said blade members being movable also in the direction in whichthe material is supplied, synchronously with the cutting of the suppliedmaterial, said movable blade member having a lower dead point and beingformed with a slit having a side aperture, which slit can be broughtinto alignment with the opening of the fixed blade member in the lowerdead point of the movable blade member such that continuously suppliedmaterial is permitted to pass through the slit upon completion of thecutting, said slit having a width smaller than the maximum lateralexcursion of the bent material and means to upwardly move the movableblade member to its original position when the bent material moveslaterally out of said slit.

According to the present invention, furthermore, there is provided amethod of producing multi-dimensionally bent articles, comprising thesteps of: dividing the entire length of the article into a plurality ofimaginary segments; determining, with respect to the divided segments,amounts with which a horizontal bending mechanism, a vertical bendingmechanism and an axial twisting mechanism are to be actuated;continuously supplying the material while detecting each dividedsegment; and individually actuating the horizontal bending mechanism,the vertical bending mechanism and the axial twisting mechanism byrespectively determined amounts with respect to the detected dividedsegments so as to bend the material multi-dimensionally.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a side view of an automobile with moldings which may be madein accordance with the present invention;

FIGS. 2(a) to 2(d) are sectional views of the moldings shown in FIG. 1,respectively;

FIG. 3 is a plan view of the complex bending machine according to oneembodiment of the present invention;

FIG. 4 is a perspective view of the first retaining device shown in FIG.3;

FIG. 5 is a front view of the second retaining device shown in FIG. 3;

FIG. 6 is a perspective view of the roll which may be used in the secondretaining device shown in FIG. 5;

FIG. 7 is a perspective view illustrating the overall arrangement of thebending device shown in FIG. 3;

FIG. 8 is a front view thereof;

FIG. 9 is a plan view thereof;

FIG. 10 is a partly sectional side view thereof;

FIG. 11 is a perspective view illustrating the front end portion of thehorizontal bending mechanism of the bending device shown in FIG. 7;

FIG. 12 is a side view of a flexible shaft which may be used to connectthe vertical bending mechanism or axial twisting mechanism shown in FIG.7 with the actuator;

FIG. 13 is a partial plan view explaining the operation of thehorizontal bending mechanism shown in FIGS. 7 and 11;

FIG. 14 is a partly sectional side view similar to FIG. 10, explainingthe operation of the vertical bending mechanism;

FIG. 15 is a front view similar to FIG. 8, explaining the operation ofthe axial twisting mechanism;

FIG. 16 is a plan view similar to FIG. 9 explaining the operation of thevertical bending rolls in response to the angular adjustment of thehorizontal bending mechanism;

FIG. 17 is a plan view of a molding produced in accordance with thepresent invention;

FIGS. 18(a) to 18(d) are sectional views of the molding shown in FIG.17, explaining the complex curvature and axial twisting thereof;

FIG. 19 is a plan view similar to FIG. 17, explaining the relationbetween finely divided imaginary segments of the molding and the storedprogram memory for controlling the bending device;

FIG. 20 is a table showing the stored program memory used to produce themolding shown in FIG. 19;

FIG. 21 is an operational chart of the bending device in accordance withthe stored program memory shown in FIG. 20;

FIG. 22 is a perspective view of a cutting device which may suitably becombined with the bending device shown in FIG. 7;

FIG. 23 is a front view thereof;

FIG. 24 is a partly sectional side view thereof;

FIG. 25 is a partly sectional side view similar to FIG. 24, with thecutting device in a position in which the cutting operation is started;

FIG. 26 is a partly sectional side view similar to FIG. 24, with thecutting device in a position in which the cutting operation iscompleted;

FIG. 27 is partial front view of the cutting device explaining therelation between the lateral deflection of the profiled body and thereturn motion of the movable blade member;

FIG. 28 is a plan view of the complex bending machine according toanother embodiment of the present invention;

FIG. 29 is a side view thereof;

FIG. 30 is a partly sectional fragmentary plan view of the bendingdevice according to still another embodiment of the present invention;

FIG. 31 is a partly sectional fragmentary front view of the verticalbending mechanism shown in FIG. 30;

FIGS. 32(a) and 32(b) are partly sectional plan views similar to FIG.30, explaining the operation of the vertical bending rolls; and

FIG. 33 is a partly sectional plan view similar to FIG. 30, showing amodification of the vertical bending mechanism.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

Referring to the accompanying drawings, the present invention will nowbe described in detail with respect to some preferred embodiments showntherein. As will be fully explained hereinafter, the present inventioncan advantageously be applied to accurately and economically producemoldings for automobiles or the like, having different length,cross-sectional shape and two- or three-dimensional curvature inaccordance with the location of a vehicle body where the moldings are tobe mounted. There is shown in FIG. 1 an automobile with various kinds ofmoldings, such as front and rear window moldings M₁ to M₆ (FIG. 2(a)),drip rail moldings M₇ (FIGS. 2(b) and 2(c)) and front and rear fendermoldings M₈, M₉ (FIG. 2(d)). Conventionally, these moldings are producedfrom a strip-like raw material of plastically deformable thin plate,such as stainless steel or aluminum strip, which raw material is firstlybent into a predetermined cross-sectional shape, and is then bentmulti-dimensionally to have a predetermined complex curvaturelongitudinally of the material.

According to the present invention, the raw material consists of a metalstrip X which, preferably, is formed on its surfaces with protectivefilm layers x of appropriate synthetic resin to prevent undesirablescratches from being made on the strip surfaces during the productionsteps of moldings. This metal strip X is continuously supplied to thebending machine of the present invention which comprises a cold rollforming device A with at least one pair of forming rolls to form the rawmaterial X into an elongate and continuous profiled body X' having apredetermined cross-sectional shape. Thus obtained profiled body X' isfurther passed through first and second retaining devices B and C at asubstantially constant speed, e.g. about 8 to 9 m/min, which retain theprofiled body X' laterally while permitting a longitudinal slidingmovement thereof. The profiled body X' is then supplied to a bendingdevice D which effects the multi-dimensional or complex bending of theprofiled body X'. Subsequently, the multi-dimensionally bent profiledbody X' is supplied to a cutting device E which is capable of cuttingthe travelling profiled body X' into a predetermined length, as a finalmolding product. There is further provided a detecting device F betweenthe first and second retaining devices B and C, for example, formeasuring the travelling distance or supplied length of the profiledbody X' and generating an output signal based on which a controllingdevice G controls the operation of the bending device D and the cuttingdevice E.

The particulars of the above-mentioned devices, except the spinningdevice A, according to a preferred embodiment of the invention are asfollows. The first retaining device B is formed by an elongate box-likemember as shown in FIG. 4, which consists of synthetic resin having anexcellent wear resistance and a low friction coefficient, such aspolyacetal plastic. The box-like member B defines therein a slit bextending longitudinally therethrough from one end to the other end andhaving a cross-sectional shape which corresponds to that of the profiledbody X', thus permitting the passage of the profiled body X'. The secondretaining device C includes a plurality of pairs of horizontal rolls c₁,c₂ on both sides of the profiled body X', as shown in FIG. 5, whichpairs are arranged in series with each other. Furthermore, a pressureroll c₃ may be arranged between the horizontal rolls c₁, c₂ of eachpair, to effectively support the cross-sectional center portion of theprofiled body X'. In order that the second retaining device C allows aslight lateral or twisting motion of the profiled body X' as it is bentmulti-dimensionally by means of the bending device D, the rolls c₁, c₂,c₃ may each include, as shown in FIG. 6, a center bearing e with arubber-like elastomer s between the bearing e and the outer peripheralportion. These rolls c₁, c₂, c₃ are rotatably carried by a cylindricalcarrier member c₄ consisting of a pair of substantiallysemi-cylindrically split halves which are detachable from each other,and which define therein an openng with substantially squarecross-section for accommodating the rolls c₁, c₂, c₃. The carrier memberc₄ itself is rotatably accommodated in a cylindrical bore of a housingblock c₅, with the inner diameter of the bore corresponding to the outerdiameter of the carrier member c₄. An adjusting bolt c₆ between one endsurface of the carrier member c₄ and an appropriate location on theouter side of the housing block c₅ such that the angular position of thecarrier member c₄ can be adjusted, with respect to the longitudinal axisthereof, by rotating the bolt c₆ and thereby increasing or decreasingthe effective length of the bolt c₆. The carrier member c₄ whose angularposition has been adjusted by the bolt c₆ is fixed to the housing blockc₅ by means of a bolt c₇ in order to prevent undesired rotation thereof.

The detecting device F arranged between the first and second retainingdevices B and C, for example, may consist of a rotary encoder, forexample, with an input member which is kept in contact with, and drivensolely by the travelling profiled body X' and which generates an outputsignal representing the travelling distance of the profiled body X'without a slipping error. Thus, the supplied length of the profiled bodyX' before it is applied with multi-dimensional bending can be measuredto control the operation of the device D. In order to mount the bendingdevice D, there is provided as shown in FIG. 7 a base plate 10 with apair of parallel side frame members 11, 12 upstanding from the uppersurface of the base plate 10, which are spaced from each other. Theseframe members 11, 12 fixedly mount thereon a supporting plate 13 for thesecond retaining device C and the bending device D.

According to one aspect of the present invention, the bending device Dhas a bottom plate 14 pivotably supported by a vertical pivot 15 on thesupporting plate 13 (FIGS. 7, 8, 10). The bottom plate 14 is integrallyconnected with a vertical plate 16 which is arranged substantiallyperpendicularly to the travelling direction of the profiled body X', andwhich carries thereon a horizontal bending mechanism, a vertical bendingmechanism, and an axial twisting mechanism to be described hereinafter.

As shown in FIG. 8, the horizontal bending mechanism has rolls 20a, 20b,20c cooperating with each other to define a gap through which theprofiled body X' is passed. By these rolls 20a, 20b, 20c, the profiledbody X' passing through the gap is retained at least horizontally, sothat it can be bent in a horizontal plane either toward right or left byan angular adjustment of the horizontal bending mechanism about thevertical axis of the pivot 15. To this end, as shown in FIG. 11, thebottom plate 14 at its downstream side front end portion carries a pairof downwardly protruding and vertically slidable guide pins 21a, 21b,and cooperates with a slider plate 22 arranged below the bottom plate14. The slider plate 22 has a pair of symmetrically formed cam grooves23a, 23b which can be selectively engaged with, or disengaged from theguide pins 21a, 21b, respectively, and is longitudinally slidably guidedby a pair of guide frame members 24a, 24b each having a substantiallyU-shaped cross-section, which are mounted on the base plate 10 inparallel with the side frame members 11, 12 (FIG. 7). The base plate 10and the rear end portion of the slider plate 22 are provided withbrackets 26, 25, respectively, and an actuator 27 is arranged betweenthe brackets 25, 26, which may consist of a plurality of cylindershaving mutually different strokes and connected in series with eachother. Thus, an angular adjustment of the horizontal bending mechanismabout the vertical axis of the pivot 15 can be effected by suitablyactuating the series-connected cylinders 27, causing the slider plate 22to slide longitudinally along the guide frame members 24a, 24b by apredetermined amount and thereby to guide selected one of the guide pins21a, 21b along the corresponding one of the cam grooves 23a, 23b.Whether the guide pin 21a is engaged with the cam groove 23a, or theguide pin 21b is engaged with the cam groove 23b, depends on whether themoldings to be produced are used for left side or right side of avehicle.

As shown in FIGS. 9 and 10, the vertical bending mechanism has a pair ofupper and lower rolls 30a, 30b which are arranged behind the rolls 20a,20b, 20c of the horizontal bending mechanism, and which are rotatablysupported by carrier plates 31a, 31b on both sides of the rolls 30a,30b. These carrier plates 31a, 31b are pivotably supported by verticalbrackets 32a, 32b fixedly secured with respect to the vertical plate 16,respectively, such that the carrier plates 31a, 31b can be swung about acommon horizontal axis defined by shafts 33a, 33b which are coaxial witheach other. These shafts 33a, 33b are fixedly secured to the carrierplates 31a, 31b by keys, and rotatably supported by the brackets 32a,32b, respectively. At least one of the shafts 33a, 33b is operablyconnected with an actuator 34 which effects an angular adjustment of thecarrier plates 31a, 31b about the horizontal axis. As shown in FIG. 7,the actuator 34 may consist of a plurality of cylinders having mutuallydifferent strokes and connected in series with each other, and isfixedly connected at its one end with a fixed bracket 35 and at itsother end with a suitable mechanism which converts an input linearmotion into an output rotary motion, and which may comprise a cam plate36 supported and guided for linear motion by appropriate means, notshown. The cam plate 36 has a straight slit 36a which is inclined withrespect to the axial direction of the actuator 34, and is engaged with afollower pin 37a at the free end of a crank arm 37. The arm 37 has acrankshaft 37b rotatably journaled by a bearing 38, which crankshaft 37bis connected with the shaft 33b of the carrier plate 31b via a universaljoint and a spline shaft 39. The axial length of the spline shaft 39 canbe increased or decreased as the bending device D is rotated about thevertical pivot 15 during the angular adjustment of the horizontalbending mechanism. Thus, an angular adjustment of the vertical bendingmechanism about the horizontal axis defined by the shaft 33a, 33b can beeffected by suitably actuating the series-connected cylinders 34,causing the cam plate 36 to move linearly and thereby to rotate theshaft 33b by a predetermined angle.

The crankshaft 37b may be connected with the shaft 33b of the verticalbending mechanism through a flexible shaft 39' as shown in FIG. 12,which consists of steel wires wrapped around a core in alternatelydirected layers. In this case, preferably, two flexible shafts 39' arearranged on both sides of the cam plate 36 and connected to the shafts33a, 33b, respectively, such that the shafts 33a, 33b are rotated by thetwo flexible shafts in the same direction.

As shown in FIGS. 8 to 10, the axial twisting mechanism has a rotaryplate 40 which supports the above-mentioned horizontal and verticalbending mechanisms and which, in turn, is rotatably supported by thevertical plate 16. The vertical plate 16 rotatably supports a worm gear41 also, which is meshed with a sector worm wheel 42 fixedly secured tothe rotary plate 40. Like the horizontal and vertical bendingmechanisms, the axial twisting mechanism has an actuator 43 connected toa fixed bracket 46, which may consist of a plurality of cylinders havingmutually different strokes and connected in series with each other. Theactuator 43 is connected, as shown in FIG. 7, to the shaft 41a of theworm gear 41 through a rack 44, a pinion 45 rotatably journaled bybearings 47, a spline shaft 48 and a universal joint. Thus, an angularadjustment of the axial twisting mechanism about the axis of the rotaryplate 40 can be effected by suitably actuating the series-connectedcylinders 43, causing the rack 44 to move linearly and thereby to rotatethe worm gear 41 by a predetermined angle.

Because the axial twisting mechanism forcedly twists the profiled bodyX' about its longitudinal axis, the rolls 20a, 20b, 20c, 30a, 30b of thehorizontal and vertical bending mechanisms are preferably arranged suchthat they have an adequate followability with respect to the forcedtwisting of the profiled body X'. Thus, for example, each of the rolls20a, 20b, 20c of the horizontal bending mechanism may have a centerbearing and a rubber-like elastomer between the bearing and the outerperipheral portion, like the rolls c₁, c₂, c₃ of the second retainingdevice C as shown in FIG. 6. Furthermore, each of the rolls 30a, 30b ofthe vertical bending mechanism may have an inner bore whose diameterincreases from the longitudinal center portion toward both ends thereof,such that these rolls are permitted to tilt with respect to the axes ofthe respective supporting shafts, as shown in FIG. 16, and are thusautomatically adapted to the variation in the radius of horizontalcurvature of the profiled body X' .

With the above-described bending device D, the desired multi-dimensionalor complex bending of the profiled body X' is effected by adjusting thehorizontal and vertical bending mechanisms and the axial twistingmechanism in the following manner. As particularly shown in FIGS. 7, 11and 13, in order to vary the curvature or radius of curvature of theprofiled body X' in the horizontal plane, the series-connected actuatorcylinders 27 are selectively operated so that the slider plate 22 slideslongitudinally along the guide frame members 24a, 24b by a predeterminedamount. Consequently, the guide pin 21a or 21b is guided along the camgroove 23a or 23b, and thus the bottom plate 14 mounting thereon thethree mechanisms rotates about the axis of the pivot 15, so that thedirection of the gap defined by the rolls 20a, 20b on both sides of theprofiled body X' is changed in the horizontal plane to bend the profiledbody X' horizontally either toward left or right at a desired angle.Also, as particularly shown in FIGS. 7, 10 and 14, in order to vary thecurvature or radius of curvature of the profiled body X' in the verticalplane, the series-connected actuator cylinders 34 are selectivelyoperated so that the cam plate 36 moves longitudinally and linearly by apredetermined amount. Since the slit 36a of the cam plate 36 is engagedby the follower pin 37a of the crank arm 37, the linear motion of thecylinders 34 is converted into a rotary motion of the crankshaft 37b,which rotary motion is transmitted to the shaft 33b of the carrier plate31b via the universal joint and spline shaft 39. Consequently, the upperand lower rolls 30a, 30b together with the carrier plates 31a, 31b arebodily rotated about the horizontal axis of the shafts 33a, 33b, so thatthe rolls 30a, 30b bend the profiled body X' in the vertical planeeither upwardly or downwardly at a desired angle. Furthermore, inaddition to the two-dimensional horizontal and vertical bendingsdiscussed above, the profiled body X' may be axially twisted in order tocompensate for possible distortion thereof resulting from the horizontaland/or vertical bending, or to effect a three dimensional bending. Tothis end, as particularly shown in FIGS. 7, 8 and 15, theseries-connected actuator cylinders 43 are selectively operated so thatthe rack 44 moves longitudinally by a predetermined amount.Consequently, the worm gear 41 is rotated by the rack 44, through thepinion 45, spline shaft 48 and universal joint, and rotates the sectorworm wheel 42 together with the rotary plate 40 which is supported bythe vertical plate 16 and mounts thereon the horizontal and verticalbending mechanisms. When these adjustments are continuously effected,e.g. sequentially or simultaneously, the profiled body X' can be benteither two-dimensionally or three-dimensionally, to have a desiredcomplex curvature of the product.

According to the present invention, a window molding M₆ (FIG. 2(a)), forexample, can be produced accurately and economically by making use ofthe bending machine explained above, even when the molding has acurvature not only in the horizontal plane as shown in FIG. 17, but alsoin the vertical plane, and is axially twisted as shown in FIG. 18(a) to(d) illustrating vertical deflections and twisting angles θ_(0x) (=0),θ_(2x), θ_(4x), θ_(6x) of the molding at its longitudinally spacedlocations 0x, 2x, 4x, 6x. Advantageously, these moldings are producedautomatically, by dividing the entire length of the molding into anappropriate number of imaginary segments 1 to T each having a constantlength. These segments can readily be identified by detecting the lengthof the profiled body X' supplied to the bending device D, by means ofthe detecting device F shown in FIG. 3, which may consist of a rotaryencoder whose output signal is supplied to the control device G withstored control memories for the actuator cylinders 27, 34, 43 by whichthe horizontal and vertical bendings and axial twisting of the profiledbody X' are controlled with respect to each of the segment. For example,a rear window molding M₆ whose entire length is about 1,500 mm may bedivided into 30 to 32 or 50 to 60 segments as shown in FIG. 19 withrespect to each of which the control device G has a stored programmemory for controlling the horizontal and vertical bending mechanismsand the axial twisting mechanism. These memories are shown in FIG. 20and may be in the form of radii of curvature (mm) in horizontal andvertical planes and of the twisting angle, based on which the horizontaland vertical bendings and the axial twisting are effected in accordancewith the operational chart as shown in FIG. 21.

In the above-mentioned embodiment of the present invention, moldingsmade of a profiled body of the same cross-sectional shape and withdifferent two- or three-dimensional curvature may readily be produced bychanging the program memory stored in the controlling device G and, ifnecessary, by changing the slider plate 22 and the cam plate 36 with aplate having a different configuration of the cam groove or slit. Thusthe time required for the preparation of producing different moldingscan be minimized.

According to the present invention, in order to produce the desiredmolding, the horizontal and vertical bending mechanisms and the axialtwisting mechanism can be actuated angularly with respect to theirrespective operational axes, and the actuators for these mechanisms canbe mechanically isolated therefrom. Consequently, the moving mass andinertia of the bending device D can be minimized and the requiredbending operation can be carried out very accurately, substantiallyfreely from the adverse influence of inertia. Moreover, since the threemechanisms of the bending device are rotatably mounted on a commonvertical plate, the device can be made very compact and producedeconomically. When flexible shafts as shown in FIG. 12 are used toconnect the mechanisms with the respective actuators, not only themoving mass can be further reduced, but also the location of theactuators can be determined relatively freely so that the required spacefor the bending device can be minimized.

According to another aspect of the present invention, the cutting deviceE arranged behind the bending device D, for cutting themulti-dimensionally bent profiled body X' into a predetermined length,comprises fixed and movable blade members 50, 60 as shown in FIGS. 22and 23. For the sake of clarity, the second retaining device C and thebending device D are illustrated in FIG. 22 in a simplified manner. Thefixed blade member 50 is fixedly secured to a portal frame 70 through asupporting plate 71, and has an opening 51 formed therein to permitpassage of the profiled body X' to be cut by the device E. Acorresponding opening 71a aligned with the opening 51 is formed in thesupporting plate 71. When the profiled body X' has only a slight lateraldeflection as a result of the complex bending, the openings 51, 71a maybe in the form of laterally elongate oval hole having a closed contour.When, however, the profiled body X' has a substantial lateral deflectionwhich exceeds the width of the openings 51, 71a, they may be in the formof laterally extending slit having a side aperture. Laterally protrudingupper and lower guide arms 52a, 52b may be connected to the upper andlower edges of the side aperture of the opening 51, such that the guidearms 52a, 52b define a space therebetween which is continuous with theopening 51 and which allows the passage of the profiled body X'. Thefixed blade member 50 has its lower edge of the opening 51 formed as acutting edge 53 with a configuration corresponding to the lower profileof the profiled body X' so that the cutting edge 53 properly supportsthe profiled body X' during the cutting operation. The movable blademember 60 is slidably in contact with the fixed blade member 50, and isconnected with an actuating cylinder 61 at the lower end of the pistonrod thereof, which actuating cylinder 61 is mounted on the frame 70. Themovable blade member 60 has its lower edge formed as a cutting edge 62,so that the cutting of the profiled body X' is effected by, and betweenthe cutting edge 53 of the fixed blade member 50 and the cutting edge 62of the movable blade member 60. The movable blade member 60 has alaterally extending slit 63 at that location thereof which comes intoalignment with the opening 51 of the fixed blade member 50 at the lowerdead point of the actuating cylinder 61. This slit 63 has a lateralwidth which is made smaller than the maximum lateral excursion of theprofiled body X' in the opening 51 of the fixed blade member 50. Theframe 70 supporting the two blade members 50, 60 is arranged above abase plate 72 having a pair of upwardly protruding side plates 73a, 73bon both sides thereof. Adjacent to the side plates 73a, 73b, a pair ofslider plates 74a, 74b are arranged which are vertically slidablyreceived in guide grooves 75a, 75b formed in the side plates 73a, 73b,respectively, and which mount thereon the frame 70. The slider plates74a, 74b are provided with side lugs 76a, 76b having height adjustingbolts 77a, 77b which are threadedly engaged with the lugs 76a, 76b andof which the lower ends abut with the upper end surfaces of the sideplates 73a, 73b, respectively. The height of the slider plates 74a, 74badjusted by the bolts 77a, 77b is maintained by tightening bolts 79a,79b which are movable along vertically extending guide slits 78a, 78bformed in the side plates 73a, 73b, and which are threaded into theslider plates 74a, 74b. The frame 70 has on both sides thereofdownwardly protruding flanges provided with horizontal pivots 80a, 80bpivotably supporting the frame 70 with respect to the slider plates 74a,74b, which pivots 80a, 80b are arranged slightly above the center ofgravity of the frame 70 and elements associated therewith, such as thetwo blade members 50, 60 and actuating cylinder 61. An optimum verticalposition of the center of gravity of the frame 70 can readily beobtained by adjusting the effective length of rods 81a, 81b whichproject rearwardly and forwardly from the frame 70 and carrycounterweights 82a, 82b, respectively. The swinging motion of the frame70 forwardly about the pivots 80a, 80b is limited within a suitableconstant range by means of pins 83a, 83b secured to the slider plates74a, 74b so as to project into recesses 84a, 84b which are formed in theflanges and which are elongate in the direction of the swinging motionof the frame 70. In order that the frame 70 can be returned to theneutral or initial angular position quickly, the base plate 72 has anupwardly protruding projection 85 and a tension spring 86 is arrangedbetween the projection 85 and the supporting plate 71 for the fixedblade member 50. The neutral or initial angular position of the frame 70can be determined and adjusted by the length of a bolt 87 which isthreaded into the projection 85 and protrudes forwardly to abut with thesupporting plate 71.

Below the lower dead point of the movable blade member 60, there isprovided a pressure plate 90 vertically movably supported by guideshafts 91, 91 passed through a horizontal flange 50a of the fixed blademember 50, and springs 92, 92 are fitted around these shafts 91, 91between the horizontal flange 50a and the pressure plate 90 to urge thepressure plate 90 upwardly. The cutting operation or downward movementof the movable blade member 60 is controlled by the controlling device Gin accordance with the output signal of the detecting device Frepresenting the length of the supplied profiled body X', whichcontrolling device G operates or controls the opening of a valve H forthe pressure fluid to be used to actuate the cylinder 61. The returnmotion or upward movement of the blade member 60 is controlled by adetector 93, such as a limit switch secured to the upper guide arm 52a,whose output signal also is supplied to the controlling device G toactuate the valve H so as to retract the piston of the cylinder 61.

The above-mentioned cutting device E is arranged with respect to themulti-dimensionally bent profiled body X' such that, when the detectingdevice F detects that a predetermined length of the profiled body X' hasbeen supplied to the bending device D and the cutting is thus to beeffected by actuating the movable blade member 60, the profiled body X'travels through the opening 51 of the fixed blade member 50, as shown inFIG. 24. By actuating the cylinder 61 and thereby moving the movableblade member 60 downwardly, the cutting operation of the profiled bodybegins to take place between the cutting edges 53, 62 of the two blademembers 50, 60, during which operation these blade members 50, 60 startsto forwardly swing about the axis of the pivots 80a, 80b in accordancewith the continued supply of the profiled body X' (FIG. 25). During thisswing motion, the portion of the profiled body X' clamped between thecutting edges 53, 62 of the two blade members 50, 60 is pressed by themovable blade member 60 downwardly against the upper surface of thelower periphery of the opening 51 in the fixed blade member 50, and isalso lifted slightly upwards by the swinging motion of the frame 70 andthe blade members 50, 60. Thus, preferably, the upper surface of thelower periphery of the opening 51 in the fixed blade member 50 isinclined rearwardly and downwardly, and adjacent upper surface of thelower periphery of the opening 71a in the supporting plate 71 isprovided with a cushioning member made, for example, of an appropriatesynthetic resin, in order to prevent possible formation of scratches onthe surface of the profiled body X'. This swing motion is continueduntil completion of the cutting operation, when the movable blade member60 reaches the lower dead point and the slit 63 of the movable blademember 60 comes into alignment with the opening 51 of the fixed blademember 50. The rear end of the profiled body X' cut into thepredetermined length as a molding product is resiliently clamped betweenthe cutting edge 62 of the movable blade member 60 and the upper surfaceof the pressure plate 90. Because the slit 63 in alignment with theopening 51 permits entry and passage therethrough of the profiled bodyX' and the two blade members 50, 60 can be swung independently of thecontinued supply of the profiled body X', the two blade members 50, 60are returned to their neutral or initial angular position by the forceof the tension spring 86 quickly. After this return motion, the profiledbody X' continues to initially travel through the slit 63 of the movableblade member 60 as shown in FIG. 26. However, at least at thatlongitudinal position of the profiled body X' where the lateraldeflection is the maximum, the profiled body X' moves laterally out ofthe slit 63, as shown by imaginary line in FIG. 27. Such a lateralmovement of the profiled body X' is detected by the detector 93 whoseoutput signal is used to actuate the cylinder 61 and move the movableblade member 60 upwardly. By this, the profiled body X' which hasalready been cut into the desired length as a molding product andclamped between the movable blade member 60 and the pressure plate 90 isnow released and can be taken out as a stock to be stored at appropriatelocation. Furthermore, the movable blade member 60 moved upwardly ismaintained in its uppermost position until a predetermined length of theprofiled body X' is further supplied to the bending device D and a nextcutting operation is thus to be effected.

It will be appreciated that the above-mentioned cutting device E of thepresent invention makes it possible to cut continuously suppliedprofiled body with multi-dimensional curvature into a predeterminedlength of the product very efficiently with a markedly improvedproductivity, since the continuous supply of the profiled body need notbe interrupted during the period in which the cutting operation andreturn motion of the movable blade member are effected. While thecutting device of the present invention can be combined with the abovementioned complex bending device advantageously, it is not limited tosuch an application only, and may be used in another type of bendingmachine which effects continuous multi-dimensional bending of anelongate material. Furthermore, various modifications are possible withrespect to the cutting device within the scope of the present invention.For example, instead of pivotably supporting the frame 70 and the twoblade members 50, 60 as to swing about the pivots 80a, 80b, they may besupported reciprocably in the direction in which the profiled body X' issupplied. In this case, the frame 70 and the cutting blades 50, 60 aremoved forwardly during the cutting operation, in accordance with thetravel of the profiled body X', and are returned rearwardly as thecutting operation is completed.

Another preferred embodiment of the complex bending machine according tothe present invention is shown in FIGS. 28 and 29, wherein the baseplate 110 mounts thereon an assembly comprising the first and secondretaining devices B and C, the bending device D, the cutting device E,the detecting device F and the controlling device G. In this embodimentalso, the bending device D comprises horizontal and vertical bendingmechanisms and axial twisting mechanism, and has its bottom plate 114pivotably supported by a vertical pivot 115 which is fixedly secured tothe base plate 110. This pivot 115 is rotatably supported by, andextends downwardly through the base plate 110, and carries on its lowerend a reduction gear train 122 coupled to a servo-motor 127 which iscontrolled by the controlling device G, and is used to horizontallyadjust the angular position of the rolls forming the horizontal bendingmechanism and to vary the curvature of the profiled body X' in thehorizontal plane. Similarly, the vertical bending mechanism is actuatedby a servo-motor 134 connected to the input shaft of the mechanismthrough a reduction gear train 136, a spline shaft 139 and a universaljoint, such that the angular position of the rolls forming the verticalbending mechanism can be adjusted by the servo-motor 134 verticallyabout a horizontal axis, in order to vary the curvature of the profiledbody X' in the vertical plane. The axial twisting mechanism also isactuated by a servo-motor 143 connected to the input shaft of themechanism through a reduction gear train 144, a spline shaft 148 and auniversal joint, such that the angular position of the mechanism can beadjusted by the servo-motor 143 about the longitudinal axis, in order tocompensate for possible distortion of the profiled body X' or to effecta three-dimensional bending. The servo-motors 127, 134, 143 may eachconsist of a hydraulic motor or a pulse motor with which a necessaryadjustment of the relevant mechanism can be effected vary accurately andin a very reliable manner.

With the bending device of the present invention explained above, theelongate profiled body X' is bent horizontally by the rolls of thehorizontal bending mechanism in the region of the profiled body X'between the horizontal bending mechanism and the second retaining deviceC, and thus bent profiled body X' is subsequently supplied to thevertical bending mechanism to be bent vertically by the rolls of thelatter mechanism. From this reason, when the profiled body X' is benthorizontally to have a smaller radius of horizontal curvature, and theangular position of the bending device is thereafter adjusted about thevertical pivot such that the radius of horizontal curvature of theprofiled body X' increases, the vertically arranged pair of rollsforming the vertical bending mechanism exerts upon the profiled body alateral force which may increase the intended smaller radius ofhorizontal curvature of that portion of the profiled body which has nowreached the vertical bending mechanism. This is because the horizontalradius of curvature of the profiled body between the rolls of thehorizontal bending mechanism is greater than that of the profiled bodybetween the rolls of the vertical bending mechanism, whereas the twomechanisms are mounted on a common bottom plate and are thussimultaneously adjusted angularly about a common vertical pivot.

Such a problem can be eliminated by still another embodiment of thepresent invention shown in FIGS. 30 and 31, in which also the bottomplate 214 of the bending device D pivotably supported by a verticalpivot 215 and mounting thereon rolls 220a, 220b forming the horizontalbending mechanism has a vertical plate 216 which supports the verticalbending mechanism. More particularly, as in the embodiment shown inFIGS. 9 and 10, a pair of vertical brackets 232a, 232b are fixedlysecured with respect to the vertical plate 216 and pviotably supportcarrier plates 231a, 231b, respectively, such that the carrier plates231a, 231b can be swung about a common horizontal axis defined by shafts233a, 233b at least one of which is connected to an actuator throughappropriate power transmission element 239. A pair of horizontalsupporting shafts 271, 272, which are in parallel with, and verticallyspaced from each other, extend between the carrier plates 231a, 231b andsupport the rolls 270a, 270b, respectively, which rolls form the rollpair 270 of the vertical bending mechanism. These rolls 270a, 270b aresupported by the supporting shafts 271, 272 with universal bushes 277,278 therebetween, which bushes 277, 278 are formed with spherical matingsurfaces to permit a limited omni-directional tilting motion of therolls 270a, 270b with respect to their supporting shaft 271, 272. Thebushes 277, 278 are retained in position by flanges 271a, 272a, formedon the outer peripheries of the supporting shafts 271, 272 which, inturn, are slidable in the axial direction thereof relatively to thebracket plates 231a, 231b.

The operation of the above-mentioned arrangement is as follows. Assumingthat a horizontal bending of the profiled body X' has just been effectedby the rolls 220a, 220b of the horizontal bending mechanism with alarger adjusting angle of the bottom plate 214 about the vertical pivot215 in an attempt to obtain a smaller radius of horizontal curvature ofthe profiled body over a desired length, as shown in FIG. 32(a), thusobtained smaller radius of horizontal curvature is prevented from beingunintentionally increased by the rolls 270a, 270b of the verticalbending mechanism even when the angular position of the bottom plate 214is readjusted about the vertical pivot 215 to increase the radius ofhorizontal curvature along the succeeding portion of the profiled bodyX'. Because, as shown in FIG. 32(b), the bushes 277, 278 havingspherical mating surfaces permit the rolls 270a, 270b to tilt withrespect to the axes of the supporting shafts 271, 272, and these shafts271, 272 themselves are axially slidable together with the rolls 270a,270b. In other words, the orientation and lateral position of thevertical bending rolls 270a, 270b are automatically adapted to thevariation in the radius of horizontal curvature of the profiled body X',so that the radius of horizontal curvature can be varied with lessrestrictions, and the intended radius of horizontal curvature, whichvaries longitudinally of the profiled body, is not affected by thevertical bending rolls. In this embodiment, the vertical bending of theprofiled body can be effected essentially in the same manner asdescribed with respect to FIGS. 7, 10 and 14, and there may be providedan axial twisting mechanism, if necessary.

A modification is shown in FIG. 33, wherein the vertical bending rollscan be automatically adapted to the angular adjustment of the horizontalbending mechanism without using the universal bushes mentioned above. Inthis case, a supporting shaft 271' having an arcuate configuration isused to support the roll 270a' with an inner bore 279 whose diameterincreases from the center toward both ends thereof. The shaft 271' isaxially supported by the carrier plates 231a, 231b and has a flange271a' to retain the roll 270a' axially in position with respect thereto.This arrangement also ensures that the radius of horizontal curvature ofthe profiled body can be varied with less restrictions, and the intendedradius of horizontal curvature, which varies longitudinally of theprofiled body, is not affected by the vertical bending rolls.

Those skilled in the art will appreciate that the present invention sofar described with respect to certain preferred embodiments is notlimited thereto, and a number of modifications and variations can bemade without departing from the scope of the present invention definedin the claims attached hereto. In the illustrated embodiments, forexample, the horizontal and vertical bending mechanisms are eachprovided with a pair of rolls which are advantageous in that undesirablescratches can effectively be prevented from being made on the surface ofthe product during the bending operation. However, in case of producingarticles for which slight surface scratches do not raise essentialproblems, such as door sashes or the like, block-like shoes formed witha slit for passing the raw material therethrough, like the firstretaining device B, may be used instead of the rolls which require arelatively complicated machining.

What is claimed is:
 1. An apparatus for producing multi-dimensionallybent articles, including a retaining device for laterally retaining acontinuously supplied elongate material while permitting the material toslide longitudinally thereof, and a bending device arranged behind theretaining device, for multi-dimensionally bending the material, whereinthe bending device comprises a base member, a bottom plate pivotablymounted on the base member so as to be angularly movable about avertical axis, a vertical plate fixedly mounted on the bottom plate atright angle to the longitudinal axis of the material, horizontal bendingmeans mounted on the vertical plate, for laterally retaining thematerial and permitting passage of the material therethrough, a verticalbending means arranged behind the horizontal bending means and pivotablymounted with respect to the vertical plate such that the verticalbending means is angularly movable about a horizontal axis.
 2. Theapparatus as claimed in claim 1, wherein the vertical plate rotatablycarries a rotary plate so as to be angularly movable about thelongitudinal axis of the material, and said horizontal and verticalbending means are mounted on the rotary plate.
 3. The apparatus asclaimed in claim 1, wherein the bottom plate is connected with anactuator arranged below the base plate, for actuating the bottom plateabout said vertical axis.
 4. The apparatus as claimed in claim 1 or 2,wherein said horizontal bending means comprises a pair of bending rollsspaced laterally from each other on both sides of the material.
 5. Theapparatus as claimed in claim 4, wherein said horizontal bending rollsare tiltable relatively to respective axes of rotation thereof.
 6. Theapparatus as claimed in claim 5, wherein each of said horizontal bendingrolls has an inner portion consisting of elastomer.
 7. The apparatus asclaimed in claim 1 or 2, wherein said vertical bending means comprises apair of bending rolls spaced vertically from each other on both sides ofthe material.
 8. The apparatus as claimed in claim 7, wherein saidvertical bending rolls are tiltable relatively to respective axes ofrotation thereof.
 9. The apparatus as claimed in claim 7, wherein saidvertical bending rolls are movable axially thereof with respect to thevertical plate.
 10. An apparatus for producing multi-dimensionally bentarticles, including a retaining device for laterally retaining acontinuously supplied elongate material while permitting the material toslide longitudinally thereof, and a bending device arranged behind theretaining device, for multi-dimensionally bending the material, whereinthe bending device comprises a base member, a bottom plate pivotablymounted on the base member so as to be angularly movable about avertical axis, an actuator arranged below the base plate, for actuatingthe bottom plate about said vertical axis, said actuator comprising atleast one actuator cylinder connected with the bottom plate through aconversion mechanism which converts the linear motion of the actuatorcylinder into the angular motion of the bottom plate about said verticalaxis, a vertical plate fixedly mounted on the bottom plate at rightangle to the longitudinal axis of the material, horizontal bending meansmounted on the vertical plate for laterally retaining the material andpermitting passage of the material therethrough, and vertical bendingmeans arranged behind the horizontal bending means and pivotably mountedwith respect to the vertical plate such that the vertical bending meansis angularly movable about a horizontal axis.
 11. The apparatus asclaimed in claim 10, wherein the actuator comprises a plurality ofseries-connected actuator cylinders having mutually different strokes.12. The apparatus as claimed in claim 10, wherein said conversionmechanism comprises a slider plate formed with at least one cam groovewhich, in a horizontal plane, is inclined with respect to thelongitudinal axis of the material, said bottom plate having a pinprovided at a location remote from said vertical axis and projected intosaid cam groove of the slider plate.
 13. The apparatus as claimed inclaim 12, wherein said slider plate is formed with two cam groovesextending symmetrically with each other in the horizontal plane, saidpin of the base plate being selectively engaged with one of said camgrooves.
 14. An apparatus for producing multi-dimensionally bentarticles, including a retaining device for laterally retaining acontinuously supplied elongate material while permitting the material toslide longitudinally thereof, and a bending device arranged behind theretaining device for multi-dimensionally bending the material, whereinthe bending device comprises a base member, a bottom plate pivotablymounted on the base member so as to be angularly movable about avertical axis, a vertical plate fixedly mounted on the bottom plate atright angle to the longitudinal axis of the material, horizontal bendingmeans mounted on the vertical plate, for laterally retaining thematerial and permitting passage of the material therethrough, andvertical bending means mounted on, and between, a pair of carrier plateswhich are pivotably supported on the vertical plate so as to beangularly movable about said horizontal axis and arranged behind thehorizontal bending means and pivotably mounted with respect to thevertical plate such that the vertical bending means is angularly movableabout a horizontal axis.
 15. The apparatus as claimed in claim 14,wherein said horizontal axis is defined by at least one shaft which isconnected with an actuator arranged remote from the vertical plate, foractuating said vertical bending means about said horizontal axis. 16.The apparatus as claimed in claim 15, wherein said at least one shaft isconnected with said actuator through a connection which allows variationin the distance therebetween.
 17. The apparatus as claimed in claim 16,wherein said connection comprises a spline shaft and a universal joint.18. The apparatus as claimed in claim 16, wherein said connectioncomprises at least one flexible shaft.
 19. The apparatus as claimed inclaim 15, wherein said actuator comprises at least one actuator cylinderconnected with said shaft through a conversion mechanism which convertsthe linear motion of the actuator cylinder into the angular motion ofsaid shaft.
 20. The apparatus as claimed in claim 19, wherein theactuator comprises a plurality of series-connected actuator cylindershaving mutually different strokes.
 21. The apparatus as claimed in claim19, wherein said conversion mechanism comprises a cam plate connectedwith said actuator cylinder and formed with a cam slit inclined withrespect to the axis of the cylinder, and a crank arm having a followerpin engaged with the cam slit, and a crankshaft connected with saidshaft defining said horizontal axis.
 22. An apparatus for producingmulti-dimensionally bent articles, including a retaining device forlaterally retaining a continuously supplied elongate material whilepermitting the material to slide longitudinally thereof, and a bendingdevice arranged behind the retaining device, for multi-dimensionallybending the material, wherein the bending device comprises a basemember, a bottom plate pivotably mounted on the base member so as to beangularly movable about a vertical axis, a vertical plate fixedlymounted on the bottom plate at right angle to the longitudinal axis ofthe material, said vertical plate rotatably carrying a rotary plate soas to be angularly movable about the longitudinal axis of the material,horizontal bending means mounted on the vertical plate, for laterallyretaining the material and permitting passage of the materialtherethrough, and vertical bending means arranged behind the horizontalbending means and pivotably mounted with respect to the vertical platesuch that the vertical bending means is angularly movable about ahorizontal axis, said horizontal and vertical bending means mounted onsaid rotary plate and said rotary plate being integrally provided with aworm wheel meshed with a worm gear which is rotatably carried by thevertical plate and connected with an actuator arranged remote from therotary plate and the vertical plate, for actuating said rotary plateabout said longitudinal axis of the material.
 23. The apparatus asclaimed in claim 22, wherein the worm gear is connected with saidactuator through a connection which allows variation in the distancetherebetween.
 24. The apparatus as claimed in claim 23, wherein saidconnection comprises a spline shaft and a universal joint.
 25. Theapparatus as claimed in claim 23, wherein said connection comprises atleast one flexible shaft.
 26. The apparatus as claimed in claim 22,wherein said actuator comprises at least one actuator cylinder connectedwith said worm gear through a mechanism which converts the linear motionof the actuator cylinder into the angular motion of said worm gear. 27.The apparatus as claimed in claim 26, wherein the actuator comprises aplurality of series-connected actuator cylinders having mutuallydifferent strokes.
 28. The apparatus as claimed in claim 26, wherein theconversion mechanism comprises a rack connected with said actuatorcylinder and a pinion meshed with the rack and connected with said wormgear.
 29. The apparatus as claimed in claim 3, 12 or 22, wherein saidactuator comprises a hydraulic servo-motor.
 30. The apparatus as claimedin claim 3, 12 or 22, wherein said actuator comprises a pulseservo-motor.